Control system for vehicle doors

A method comprising:

• receiving a signal to operate a door of a vehicle;
• determining a physical state associated with the vehicle;
• determining a historical current changing over time and being previously used by a motor to operate the door of the vehicle with a previous pitch and a previous roll;
• determining, based at least in part on the historical current, and the physical state, an expected current to operate the door;
• controlling the motor to operate the door;
• determining an actual current used by the motor to operate the door;
• determining that the actual current exceeds the expected current by a threshold amount;
• detecting, based at least in part on the actual current exceeding the expected current by the threshold amount, an obstruction of the door;
• and
• performing an action based at least in part on detecting the obstruction.

One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:

• receiving a signal to operate a panel of a vehicle;
• determining a physical state associated with the vehicle;
• determining a historical current changing over time and being previously used by a motor to operate the panel of the vehicle with previous pitch and a previous roll;
• determining, based at least in part on the historical current, and the physical state, an expected current to operate the panel;
• controlling the motor to operate the panel;
• determining an actual current used by the motor to operate the panel;
• determining that the actual current exceeds the expected current by a threshold amount;
• and
• detecting, based at least in part on the actual current exceeding the expected current by the threshold amount, an obstruction of the panel;
• and
• performing an action based at least in part on detecting the obstruction.